Rockwell Automation 57C422B 2 Axis Servo Module - Manual (Page 76)

4-48 2-Axis Servo Module M/N 57C422B
4.49.4 Sample Application Task with Interrupt
The following sample application task illustrates the use of
interrupts on the 2-Axis module. This is not a complete
program, only a sample illustration using an interrupt. Note
that this sample assumes that the raw feedback from the
pulse generator is 1000 counts per revolution.
2000 LOCAL FDBK_SCALING
2010 LOCAL COMMAND%
2020 LOCAL DISTANCE
2030 LOCAL SPD
2040 LOCAL ACCEL
3000 INT_SRC_X! = 0 \! Initialize interrupt source
3010 INT_ENA_X! = 0 \! and enable registers and the
3020 REG_64% = 0 \! interrupt reset register;
3021 ! INT_SRC_X! and INT_ENA_X! are
3022 ! double precision variables
3023 !
3025 EVENT NAME=HW_EVENT, INTERRUPT_STATUS= ISCR%, &
TIMEOUT= DISABLED
3030 ! line 3025 connects the variable name ISCR% to the
3035 ! interrupt status and control register
3040 ENCODER_SETUP%=1414H \! X-Axis gearing and feedback
3042 ! encoders are in rotary
3045 ! w/ *4 quadrature
3050 DRIVE SETUP%=0H
3060 SWITCHES%=011CH \! enables drive fault input,
3065 ! overtravel L/S, feedback
3067 ! encoder marker pulse; home
3068 ! direction is in the decreasing
3069 ! position
3070 PGAIN%=17595
3080 IGAIN%=768
3090 VGAIN%=78
3100 FGAIN%=8320
3110 DBCOMP%=28
3120 MAX_FOLL_ERR%=2000 \! error is = to 0.5 axis revolutions
3130 MAX_VEL_ERR%=4000 \! 1 revolution of the axis
3140 IN_TOLERANCE%=10
3150 GEAR_RATIO!=0
3160 MAX_VOLTS%=1984 \! maximum volts = 10
3170 P_CONST%=-1
3180 N_CONST%=-1
3190 FDBK_UNWIND!=1600000 \! 400 axis revolutions
3200 GEAR_UNWINDI=4000 \! 4000 counts = 1 rev.
3201 ! from regs. 36,37
3210 COMMAND%=0200H \ GOSUB 15010 \! change default setups
3211 MODES% = 0
3215 DELAY 10 TICKS
3217 MODES% = 21H \! enable incremental index move
3218 ! and position loop
3230 FDBK_SCALING=4000 \DISTANCE=20 \ SPD =40.0 \ ACCEL = 50.0
4000 ! Index move
4010 CMD_POS! = FDBK_SCALING*DISTANCE
4020 CMD_VEL! = SPD*FDBK_SCALING*65.536
4030 CMD_ACC! = (ACCEL/4)*FDBK_SCALING*.065536
4040 CMD_DEC! = CMD_ACC!
4050 COMMAND% = 1 \GOSUB 15010
4055 !
4060 ! Subroutine to wait for axis done
4070 INT_ENA-X! = 00010000H
4080 WAIT ON HW_EVENT
4090 IF X_AXIS_DONE@ THEN INT_SRC_X! = 0 \ INT_ENA_X! = 0
4110 REG_64% = 0
4120 IF (INT_ENA_XI <> 0) THEN GOTO 4080
4130 GOTO 4010
4140 !
15000 ! Subroutine to wait for command ack
15010 INT_ENA_X! = INT_ENA_XI OR 80000000H